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1. 发明申请

WO1997011416A1 ROBOT LANGUAGE PROCESSOR 审中-公开
标题翻译：机器人语言处理器
公开(公告)号：WO1997011416A1
公开(公告)日：1997-03-27
申请号：PCT/JP1996002691
申请日：1996-09-19
申请人： KABUSHIKI KAISHA YASKAWA DENKI , TAKAOKA, Keiichi , OHSAWA, Noriyuki , MANTANI, Noriaki , KANEHARA, Takeyoshi , TANAKA, Youichi , KAWAI, Fumiaki
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： G05B19/4068
CPC分类号： G05B19/4068 , B25J9/1671 , G05B2219/36074 , G05B2219/36143 , G05B2219/36257 , G05B2219/40099 , G05B2219/45104
摘要： When a robot language processor is displayed or edited, a teach unit or a programming pendant in the prior art can only display an intermediate code of the robot language converted to character expression. Therefore, it is not possible to intuitively grasp the robot operation. Furthermore, it takes a long time to learn the language, and prepared programm must be verified by actually operating a robot. Therefore, a processor according to the present invention comprises a display device capable of graphic display and capable of designating a position in a display screen by a pointing device, a memory for storing a robot program, and a graphical language processing portion for displaying a work zone and an air cut zone as a continuous line on the display device by looking up the robot program, and displaying the kind of the work content on a line on the display screen when such a line under display on the display screen is designated by the pointing device, so as to allow robot teaching on the basis of a graphical user interface.
摘要翻译：当显示或编辑机器人语言处理器时，现有技术中的教学单元或编程挂件只能显示转换为字符表达的机器人语言的中间代码。因此，不可能直观地掌握机器人的操作。此外，学习语言需要很长时间，并且必须通过实际操作机器人来验证准备的程序。因此，根据本发明的处理器包括能够进行图形显示并且能够通过指示设备指定显示屏幕中的位置的显示设备，用于存储机器人程序的存储器和用于显示工作的图形语言处理部分区域和通过查找机器人程序在显示装置上作为连续线的空气切割区域，并且当显示屏幕上显示的这样的行被指定时，在显示屏幕上的行上显示工作内容的种类指点设备，以便在图形用户界面的基础上允许机器人教学。

2. 发明申请

WO1997010919A1 AUTOMATIC WELDING CONDITION SETTING DEVICE 审中-公开
标题翻译：自动焊接条件设定装置
公开(公告)号：WO1997010919A1
公开(公告)日：1997-03-27
申请号：PCT/JP1996002690
申请日：1996-09-19
申请人： KABUSHIKI KAISHA YASKAWA DENKI , HANDA, Hiroyuki , OKUMURA, Shinji , FUJI, Hajime , MITSUSHIO, Takanori , TAKAOKA, Keiichi , OHSAWA, Noriyuki , NISHIMURA, Isao , NISHIMURA, Kiminori , AMANO, Tadayuki , SUZUSHIMA, Michiko
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： B23K09/095
CPC分类号： B23K9/1062 , B23K9/0953
摘要： A welding condition setting device that allows even a beginner to easily set a work process and welding conditions for a target welding, comprising a welding information recording unit (12) recording therein welding working information on welding working such as information on a welding machine for use in arc welding, information on shield gas and information on welding wires, welding information inputting and outputting means (11) for inputting and outputting the welding working information, welding working information setting means (15) for setting the welding working information, retrieving means (13) for retrieving relevant information from the information stored in the welding information storing unit (12) based on information so set, and information control means (14) for giving the retrieving means (13) a retrieving requirement instruction in retrieving information in the information storing unit (12) and outputting the relevant welding information.
摘要翻译：一种焊接条件设定装置，其能够即使初学者容易地设定用于目标焊接的工作过程和焊接条件，包括焊接信息记录单元（12），其中记录关于焊接工作的焊接工作信息，例如关于使用的焊接机的信息在电弧焊接中，关于保护气体的信息和焊丝信息，焊接信息输入输出装置（11），用于输入和输出焊接作业信息，焊接作业信息设定装置（15），用于设定焊接作业信息，检索装置 13），用于根据所设置的信息从存储在焊接信息存储单元（12）中的信息中检索相关信息;以及信息控制装置（14），用于在检索信息中提供检索要求指令，存储单元（12）并输出相关的焊接信息。

3. 发明申请

WO1990009859A1 METHOD AND APPARATUS FOR MULTI-LAYER BUILDUP WELDING 审中-公开
标题翻译：多层建筑焊接方法与装置
公开(公告)号：WO1990009859A1
公开(公告)日：1990-09-07
申请号：PCT/JP1990000212
申请日：1990-02-21
申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO , OKUMURA, Shinji; , TAKAOKA, Keiichi; , NAKAZATO, Tatsumi;
发明人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO
IPC分类号： B23K09/127
CPC分类号： B23K9/0216 , B23K9/04 , G05B19/4103 , G05B19/425 , G05B2219/45104 , G05B2219/45238
摘要： Out of the welding operations carried out by a welding robot, a multi-layer buildup welding operation is a very important operation since it enables the strength of a weld zone to be secured but it has many technical difficulties. In order to carry out the first-layer welding according to the present invention, an approximate straight line or an approximate curve between taught points is determined on the basis of coordinates values through which a welding torch actually passes between the taught points, and points on the approximate straight line or approximate curve are computed on the basis of the distances of the taught points, each actual welding pass being then defined by these points. Regarding the loci in the welding from the second-layer welding onward, the direction and quantity of shift are determined by carrying out computation on the basis of the two points taught as the welding starting and ending points during the teaching for the first-layer welding and the two reference points designated for the purpose of defining the direction of shift. The multi-layer buidup welding iscarried out after computing the loci of operations for the welding from the second-layer welding onward in this manner. In order to control the posture of the welding torch during the welding from the second-layer welding onward, the loci of operations therein are determined on the basis of the locus of operation of the welding torch during the first-layer welding and the angle of rotation given from the outside of the welding torch, and the welding torch is then turned by a given angle around a vector of direction of advance determined at a taught point, the posture data being computed. The welding from the second-layer welding onward is carried out on the basis of the posture data thus determined. Thus the first-layer welding and the subsequent welding runs, i.e. a multi-layer buildup welding can be carried out with a high accuracy owing to these operations.

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